From 0a7ae22398a5b346fbab3216f0d326e15ae5c1c3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Feb 2018 13:23:00 +1100
Subject: [PATCH] Tools: Vagrant: use install-prereqs-ubuntu for installation

---
 Tools/scripts/build-jsbsim.sh           | 10 +++
 Tools/scripts/install-prereqs-ubuntu.sh | 11 ++-
 Tools/vagrant/initvagrant-trusty64.sh   | 39 +++++++++++
 Tools/vagrant/initvagrant.sh            | 93 +++++++------------------
 Tools/vagrant/shellinit.sh              |  6 ++
 Vagrantfile                             | 26 +++++--
 6 files changed, 107 insertions(+), 78 deletions(-)
 create mode 100755 Tools/scripts/build-jsbsim.sh
 create mode 100644 Tools/vagrant/initvagrant-trusty64.sh

diff --git a/Tools/scripts/build-jsbsim.sh b/Tools/scripts/build-jsbsim.sh
new file mode 100755
index 0000000000..d710e44ba8
--- /dev/null
+++ b/Tools/scripts/build-jsbsim.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+set -e
+set -x
+
+rm -rf jsbsim
+git clone https://github.com/tridge/jsbsim.git
+cd jsbsim
+./autogen.sh
+make -j2
diff --git a/Tools/scripts/install-prereqs-ubuntu.sh b/Tools/scripts/install-prereqs-ubuntu.sh
index 10f109537b..64e68be8f2 100755
--- a/Tools/scripts/install-prereqs-ubuntu.sh
+++ b/Tools/scripts/install-prereqs-ubuntu.sh
@@ -11,6 +11,7 @@ PX4_PKGS="python-argparse openocd flex bison libncurses5-dev \
 ARM_LINUX_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf"
 SITL_PKGS="libtool libxml2-dev libxslt1-dev python-dev python-pip python-setuptools python-matplotlib python-serial python-scipy python-opencv python-numpy python-pyparsing realpath"
 ASSUME_YES=false
+QUIET=false
 
 UBUNTU_YEAR="15" # Ubuntu Year were changes append
 UBUNTU_MONTH="10" # Ubuntu Month were changes append
@@ -65,13 +66,17 @@ while getopts "y" opt; do
             ;;
         y)  ASSUME_YES=true
             ;;
+        q)  QUIET=true
+            ;;
     esac
 done
 
+APT_GET="sudo apt-get"
 if $ASSUME_YES; then
-    APT_GET="sudo apt-get -qq --assume-yes"
-else
-    APT_GET="sudo apt-get"
+    APT_GET="$APT_GET --assume-yes"
+fi
+if $QUIET; then
+    APT_GET="$APT_GET -qq"
 fi
 
 # possibly grab a newer cmake for older ubuntu releases
diff --git a/Tools/vagrant/initvagrant-trusty64.sh b/Tools/vagrant/initvagrant-trusty64.sh
new file mode 100644
index 0000000000..a97c6580d1
--- /dev/null
+++ b/Tools/vagrant/initvagrant-trusty64.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+
+# this script is run by the root user in the virtual machine
+
+set -e
+set -x
+set -u
+
+echo "Initial setup of SITL-vagrant instance."
+
+/vagrant/Tools/scripts/install-prereqs-ubuntu.sh -y
+
+# extra packages we desire on the VM but aren't prereqs for AP compilation:
+sudo apt-get install -y valgrind gdb
+
+VAGRANT_USER=vagrant
+
+PROFILE_TEXT="
+source /vagrant/Tools/vagrant/shellinit.sh
+# This allows the PX4NuttX build to proceed when the underlying fs is on windows
+# It is only marginally less efficient on Linux
+export PX4_WINTOOL=y
+export PATH=\$PATH:\$HOME/jsbsim/src
+export BUILDLOGS=/tmp/buildlogs
+"
+
+DOT_PROFILE=/home/$VAGRANT_USER/.profile
+
+echo "$PROFILE_TEXT" | sudo -u $VAGRANT_USER dd conv=notrunc oflag=append of=$DOT_PROFILE
+sudo -u $VAGRANT_USER ln -fs /vagrant/Tools/vagrant/screenrc /home/$VAGRANT_USER/.screenrc
+
+# build JSB sim
+sudo -u $VAGRANT_USER /vagrant/Tools/scripts/install-jsbsim.sh /home/$VAGRANT_USER
+
+#Plant a marker for sim_vehicle that we're inside a vagrant box
+touch /ardupilot.vagrant
+
+# Now you can run
+# vagrant ssh -c "screen -d -R"
diff --git a/Tools/vagrant/initvagrant.sh b/Tools/vagrant/initvagrant.sh
index ed91fbd593..838ab88758 100755
--- a/Tools/vagrant/initvagrant.sh
+++ b/Tools/vagrant/initvagrant.sh
@@ -7,85 +7,40 @@ set -x
 
 echo "Initial setup of SITL-vagrant instance."
 
-BASE_PKGS="gawk make git arduino-core curl"
-SITL_PKGS="g++ python-pip python-matplotlib python-serial python-wxgtk3.0 python-scipy python-opencv python-numpy python-empy python-pyparsing ccache"
-PYTHON_PKGS="pymavlink MAVProxy droneapi future pexpect"
-PX4_PKGS="python-serial python-argparse openocd flex bison libncurses5-dev \
-          autoconf texinfo build-essential libftdi-dev libtool zlib1g-dev \
-          zip genromfs cmake"
-UBUNTU64_PKGS="libc6:i386 libgcc1:i386 gcc-4.9-base:i386 libstdc++5:i386 libstdc++6:i386"
-
-# GNU Tools for ARM Embedded Processors
-# (see https://launchpad.net/gcc-arm-embedded/)
-ARM_ROOT="gcc-arm-none-eabi-4_9-2015q3"
-ARM_TARBALL="$ARM_ROOT-20150921-linux.tar.bz2"
-ARM_TARBALL_URL="http://firmware.ardupilot.org/Tools/PX4-tools/$ARM_TARBALL"
-ARM_HF_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf"
-
-# Ardupilot Tools
-ARDUPILOT_TOOLS="ardupilot/Tools/autotest"
-
 VAGRANT_USER=ubuntu
+if [ -e /home/vagrant ]; then
+    # prefer vagrant user
+    VAGRANT_USER=vagrant
+fi
+
+# artful rootfs is 2GB without resize:
+sudo resize2fs /dev/sda1
 
 usermod -a -G dialout $VAGRANT_USER
 
-apt-get -y remove modemmanager
-apt-get -y update
-apt-get -y install dos2unix g++-4.7 ccache python-lxml screen xterm gdb pkgconf
-apt-get -y install $BASE_PKGS $SITL_PKGS $PX4_PKGS $UBUNTU64_PKGS $ARM_HF_PKGS
-pip -q install $PYTHON_PKGS
-easy_install catkin_pkg
+/vagrant/Tools/scripts/install-prereqs-ubuntu.sh -y
+
+# run-in-terminal-window uses xterm:
+apt-get install -y xterm
+
+# valgrind support:
+apt-get install -y valgrind
+
+# gdb support:
+apt-get install -y gdb
 
 
-# ARM toolchain
-if [ ! -d /opt/$ARM_ROOT ]; then
-    (
-        sudo -u $VAGRANT_USER wget -nv $ARM_TARBALL_URL
-        pushd /opt
-        tar xjf ${OLDPWD}/${ARM_TARBALL}
-        popd
-        rm ${ARM_TARBALL}
-    )
-fi
-
-exportline="export PATH=/opt/$ARM_ROOT/bin:\$PATH"
-DOT_PROFILE=/home/$VAGRANT_USER/.profile
-PROFILE_TEXT=""
-if grep -Fxq "$exportline" $DOT_PROFILE; then
-    echo nothing to do
-else
-    PROFILE_TEXT="
-$PROFILE_TEXT
-$exportline
-"
-fi
-
-PROFILE_TEXT="
-$PROFILE_TEXT
-source /vagrant/Tools/vagrant/shellinit.sh
-# This allows the PX4NuttX build to proceed when the underlying fs is on windows
-# It is only marginally less efficient on Linux
-export PX4_WINTOOL=y
-export PATH=\$PATH:\$HOME/jsbsim/src
-export BUILDLOGS=/tmp/buildlogs
-"
-
-echo "$PROFILE_TEXT" | sudo -u $VAGRANT_USER dd conv=notrunc oflag=append of=$DOT_PROFILE
 sudo -u $VAGRANT_USER ln -fs /vagrant/Tools/vagrant/screenrc /home/$VAGRANT_USER/.screenrc
 
 # build JSB sim
-apt-get install -y libtool libtool-bin automake autoconf libexpat1-dev
-sudo -u $VAGRANT_USER -H bash <<"EOF"
-set -e
-set -x
+apt-get install -y libtool automake autoconf libexpat1-dev
+#  libtool-bin
+sudo --login -u $VAGRANT_USER /vagrant/Tools/scripts/build-jsbsim.sh
 
-cd
-rm -rf jsbsim
-git clone https://github.com/tridge/jsbsim.git
-cd jsbsim
-./autogen.sh
-make -j2
-EOF
+# adjust environment for every login shell:
+DOT_PROFILE=/home/$VAGRANT_USER/.profile
+echo "source /vagrant/Tools/vagrant/shellinit.sh" |
+    sudo -u $VAGRANT_USER dd conv=notrunc oflag=append of=$DOT_PROFILE
 
 #Plant a marker for sim_vehicle that we're inside a vagrant box
 touch /ardupilot.vagrant
diff --git a/Tools/vagrant/shellinit.sh b/Tools/vagrant/shellinit.sh
index fa5337e4ea..7ba16898ec 100644
--- a/Tools/vagrant/shellinit.sh
+++ b/Tools/vagrant/shellinit.sh
@@ -1,5 +1,11 @@
 # Init that is run every time a new session starts up
 
+# This allows the PX4NuttX build to proceed when the underlying fs is on windows
+# It is only marginally less efficient on Linux
+export PX4_WINTOOL=y
+export PATH=$PATH:$HOME/jsbsim/src
+export BUILDLOGS=/tmp/buildlogs
+
 export APMROOT=/vagrant
 export PATH=$APMROOT/Tools/autotest:$PATH
 
diff --git a/Vagrantfile b/Vagrantfile
index be003af54b..65124eb6c7 100644
--- a/Vagrantfile
+++ b/Vagrantfile
@@ -1,17 +1,22 @@
 # -*- mode: ruby -*-
 # vi: set ft=ruby :
 
+# Testing an ArduPilot VM:
+# sim_vehicle.py # in the starting directory should start a Copter simulation
+# xterm # X11 forwarding should work
+# sim_vehicle.py --debug --gdb
+# sim_vehicle.py --valgrind
+# cd /vagrant && ./waf configure --board=px4-v2 && ./waf build --target=bin/ardusub
+# cd /vagrant ./waf configure --board=navio2 && ./waf build --target=bin/arduplane
+# cd /vagrant ./Tools/autotest/sim_vehicle.py -v ArduPlane # should test JSBSim
+# cd /vagrant ./Tools/autotest/autotest.py build.APMrover2 drive.APMrover2
+
 # Vagrantfile API/syntax version. Don't touch unless you know what you're doing!
 VAGRANTFILE_API_VERSION = "2"
 
 Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
 
   config.vm.box = "ubuntu/zesty32"
-  # push.app = "geeksville/ardupilot-sitl"
-
-  # The following forwarding is not necessary (or possible), because our sim_vehicle.py is smart enough to send packets
-  # out to the containing OS
-  # config.vm.network "forwarded_port", guest: 14550, host: 14550, protocol: "udp"
 
   # Provider-specific configuration so you can fine-tune various
   # backing providers for Vagrant. These expose provider-specific options.
@@ -39,6 +44,15 @@ Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
   # If you are on windows then you must use a version of git >= 1.8.x to update the submodules
   # in order to build. Older versions of git use absolute paths for submodules which confuses things.
 
-  config.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"  
+  config.vm.define "devenv", primary: true do |devenv|
+    config.vm.box = "ubuntu/zesty32"
+    config.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"  
+  end
+
+  config.vm.define "trusty64" do |trusty64|
+    config.vm.box = "ubuntu/trusty64"
+    config.vm.provision "trusty64", type: "shell", path: "Tools/vagrant/initvagrant.sh"
+  end
+
 end